KR101933764B1 - Cladding apparatus in continuous rotation having multi-joint manipulator and Method of cladding - Google Patents

Abstract

The present invention relates to a cladding apparatus and a cladding method capable of welding a plurality of claddings by only one installation by moving a welding apparatus capable of automatic welding in continuous rotation through a multi-joint manipulator. The cladding apparatus includes a cladding The apparatus includes a welding portion for welding a cladding, a coupling portion for coupling the welding portion to the hole, and a moving portion of a multi-joint provided between the welding portion and the coupling portion for moving the welding portion, Device.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a multi-joint continuous rotation type cladding apparatus and cladding method,

More particularly, the present invention relates to a cladding apparatus capable of welding a plurality of claddings by only one installation by moving a welding apparatus capable of automatic welding in continuous rotation through a multi-joint manipulator, Cladding method.

Cladding is a method of adding different kinds of dissimilar metals to a surface of a base metal in order to impart necessary properties such as abrasion resistance, corrosion resistance and heat resistance, and melt bonding them to each other, thereby maintaining the basic toughness of the base metal itself, Thereby forming a surface layer that can withstand the environment.

Generally, a welding apparatus is used for cladding a part having a plurality of holes (welding for joining metals on both surfaces or one surface of steel).

For example, a plurality of stud holes are provided at the upper end of the reactor upper cell, and stainless cladding welding may be performed on the upper portion of the stud hole to prevent corrosion.

In addition, the head of the steam generator, which is the main device of the nuclear power plant, has inlet and outlet nozzles connected to the reactor and the cooling pump for the cooling water for heat exchange, and the upper surface of each nozzle has an inconel, Cladding of the material may be required.

In order to facilitate the welding operation of the welding apparatus more easily and smoothly, there have been developed many jigs (auxiliary apparatuses for easily and precisely determining the machining position in machining).

However, since the conventional jig for a welding apparatus can not firmly fix the welding apparatus and precisely adjust the position thereof, it is difficult to precisely locate the center of the welding portion at the center of the hole of the welding point, There is a problem that the improvement of the welding quality can not be achieved.

Further, in order to proceed the cladding of the next welding point after the completion of one welding operation, the jig must be detached and moved to the next welding position to re-install it, thereby increasing the worker's fatigue and lowering the working speed.

In addition, as the welding apparatus is repeatedly separated and installed as described above, the welding apparatus may not be properly fixed. Accordingly, if external interference occurs during the welding operation, Because it is necessary to make corrections or rework, productivity may be reduced and safety accidents may be caused.

In addition, although the welding has been conventionally performed using the manual SMAW welding method, there is a problem that the working environment is poor due to welding in a narrow section and preheating conditions.

SUMMARY OF THE INVENTION The present invention is directed to a cladding apparatus and cladding method capable of welding a plurality of claddings by only one installation by moving a welding apparatus capable of automatic welding in continuous rotation through a multi-joint manipulator .

According to another aspect of the present invention, there is provided a cladding apparatus for cladding a plurality of holes, the cladding apparatus comprising: a welding portion for welding a cladding; a coupling portion for coupling the welding portion to the hole; And a setting part for setting the welding part at the center of the hole where the welding is performed.
The welding portion may include a welding torch portion rotatable by 360 °, a torch supporting portion rotatably supporting the welding torch portion, connected to the moving portion, and a driving portion driving the rotation of the welding torch portion.

And the welding portion is capable of automatic welding by continuous rotation.

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The moving part may include a first moving part for moving the welding part in parallel with the axis in which the plurality of holes are formed and a second moving part for moving the welding part in a direction perpendicular to the moving direction by the first moving part have.

At this time, the torch supporting portion may be connected to the second moving portion.

The moving part may include a first arm rotatably connected to the engaging part and a second arm rotatably connected to the first arm.

The first arm and the second arm are hinge-coupled.

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The apparatus may further include a control unit for controlling a position of the welded portion in accordance with the position of the hole to be welded and the completion of welding.

According to an aspect of the present invention, there is provided a cladding method for cladding a plurality of holes, the method comprising: providing a weld portion for welding a cladding in a hole; Setting the weld in the hole, cladding the weld through 360 ° rotation, and resetting the weld in the hole to be welded next using the moving part of the multi-joint .

And the setting step sets the welding portion at the center of the hole to be welded.

The cladding step may include the step of lowering the welded part into the hole to be welded and raising the welded part out of the hole after rotating the welded part by 360 °.

According to another embodiment, the cladding step may include a step of raising the welded part into the hole to be welded, and a step in which the welded part is lowered out of the hole after rotating the welded part by 360 °.

According to the multi-joint continuous rotation type cladding apparatus and cladding method of the present invention, the welding portion for welding the cladding is movable including the moving portion of the multi-joint, so that it is not necessary to provide a cladding device for each hole at the time of cladding a plurality of holes The cladding welding operation of the plurality of holes can be facilitated only by the installation of the cladding.

In addition, since the welding portion can be automatically infinite welded due to continuous rotation, the cladding welding work can be easily performed even in a narrow space.

Accordingly, not only the fatigue of the worker can be reduced but also the incidence of the safety accident can be reduced, and the work speed is increased due to the reduction of the installation time, thereby improving the productivity.

In addition, the cladding device, particularly the welding portion including the setting portion, can be precisely set at the center of the hole of the part as the welding point, thereby improving the accuracy of the welding operation and improving the welding quality.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a perspective view showing a state in which a part of a cladding apparatus according to a first embodiment of the present invention is installed on a component.
FIG. 2 is a perspective view showing a state in which a welded portion is mounted in FIG. 1;
Fig. 3 is a cross-sectional view of Fig. 2 viewed from the front. Fig.
4 is a perspective view showing a state in which a part of the cladding apparatus according to the second embodiment of the present invention is installed on a component.
FIG. 5 is a schematic view showing a cladding method step by step according to an embodiment of the present invention.
FIG. 6 is a perspective view schematically showing a state where the cladding operation is proceeded in FIG. 2. FIG.
FIG. 7 is a perspective view schematically showing a state in which the cladding device is reinstalled at another position of the part after completion of the cladding operation of FIG. 6;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a preferred embodiment of a multi-joint continuous rotating cladding apparatus and cladding method of the present invention will be described with reference to FIGS. 1 to 7 attached hereto.

It is to be understood that both the foregoing description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention, and are not intended to limit the scope of the invention. But are merely illustrative of the elements recited in the claims.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification. Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

FIG. 1 is a perspective view showing a state in which a part of a cladding apparatus according to a first embodiment of the present invention is installed on a component, FIG. 2 is a perspective view showing a state in which a welded portion is mounted on the component, FIG. 4 is a perspective view showing a state in which a part of the cladding apparatus according to the second embodiment of the present invention is installed on a part, FIG. 5 is a schematic view showing a stepwise cladding method according to an embodiment of the present invention FIG. 6 is a perspective view schematically showing a state in which the cladding operation is proceeded in FIG. 2, and FIG. 7 is a perspective view schematically showing a state in which the cladding device is installed again at another position of the component after the completion of the cladding operation of FIG.

The cladding apparatus and the cladding method of the present invention can be applied for a cladding operation of a component including a plurality of holes, and can be used particularly for welding a cladding of a hole inner diameter.

For example, it may be used to perform stainless cladding welding to prevent corrosion at the top (inner diameter) of several stud holes formed in the upper end of the reactor upper cell.

First, a cladding device according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

The cladding apparatus according to the first embodiment of the present invention may include a coupling unit 100, a moving unit 200, a welding unit 300, a setting unit, and a control unit.

The coupling part 100 is for coupling the welding part 300 for the cladding welding to the part 10 including the plurality of holes and when the welding part 300 is moved by the moving part 200 to be described later And serves to provide a reference point fixed to the hole.

Accordingly, the welded portion 300 can move toward the plurality of holes disposed around the hole coupled by the coupling portion 100. [

The joint portion 100 is firmly fixed to the inside of the hole so that the weld portion 300 can be firmly mounted and fixed to the component. For example, a portion of the coupling portion 100 may be inserted into the hole and then coupled by a fixing pin or a bolt.

Accordingly, even if external interference occurs during the cladding operation, it is possible to prevent the coupling portion from being shaken or detached from the component, thereby preventing the welding defect and the safety accident.

At this time, the welding part 300 can be automatically welded by continuous rotation, so that the cladding welding work can be easily performed even in a narrow space.

2, the welding portion 300 includes a welding torch portion 310 rotatable by 360 degrees, a support portion 300 rotatably and slidably supporting the welding torch portion 310, and connected to the moving portion 200 And a driving unit 330 for driving the rotation and sliding movement of the welding torch part 310. As shown in FIG.

Since the welding torch portion 310 is rotatable by 360 °, the inside of the hole can be uniformly clad (welded) as a whole. The welding torch portion 310 may be inserted into the interior of the torch supporting portion 320 and be rotatably and slidably supported.

It is preferable that a means such as a wheel or a rolling bearing is formed between the welded portion 310 and the torch supporting portion 320 to smoothly rotate or slide.

Accordingly, when the rotation or sliding movement of the welding torch portion 310 is driven by the driving portion 330, the welding torch portion 310 can be easily rotated or slid with respect to the torch supporting portion 320, It can be done quickly and accurately.

The driving unit 330 may be an actuator or a gear box, and may be connected to the welding torch unit 310 to drive rotation and sliding movement of the welding torch unit 310.

The moving part 200 is installed between the coupling part 100 and the welding part 300 and serves to move the welding part 300. The moving part 200 may be formed of a multi-joint manipulator, thereby moving the welding part 300 in various directions.

In the present embodiment, the welding portion 300 itself can rotate the welding torch portion 310 and slide the welding torch portion 310 upward and downward. By the moving portion 200, a plurality of holes are formed in the horizontal direction To be moved in a direction parallel to the axis of rotation.

The moving part 200 includes a first arm 210 rotatably connected to the coupling part 100 and a second arm 220 rotatably connected to the first arm 210 And the first arm 210 and the second arm 220 are hinge-coupled to each other.

One side of the first arm 210 may be formed with a hole to be connected to the coupling part 100 and a column of the coupling part 100 may be inserted into the hole to rotate the first arm 210 . At this time, the first arm 210 may be rotatably connected to the outer surface of the coupling part 100, or a part of the coupling part 100 to which the first arm 210 is coupled may be integrally rotated.

The opposite side of the second arm 220 connected to the first arm 210 may be formed with a hole for inserting the torch support 320 so that the torch support 320 can be connected to the second arm 220.

Specifically, the first arm 210 is rotatably mounted on a plane perpendicular to the coupling unit 100, and the second arm 220 is rotatably mounted on the same surface as the first arm 210 So that the position of the welding part 300 can be adjusted by adjusting the angle between them. That is, as the angle formed by the first arm 210 and the second arm 220 becomes smaller, the first arm 210 and the second arm 220 are disposed closer to the coupling portion 100. As the angle increases, .

Accordingly, when the cladding operation is completed in any one of the holes of the component having a plurality of holes, it is possible to quickly and easily move to the next hole. As described above, since the cladding device is not required to be installed (set up) in each hole during the cladding operation of each hole, the welding part 300 can be smoothly and easily moved to the next hole by the moving part 200 after one installation, And at the same time, the installation time is reduced and the work speed is increased, so that the productivity is improved.

The number of holes that can be welded by the cladding may be different depending on the distance that the welding unit 300 can be moved by the moving unit 200. However, when the moving unit 200 becomes too long Since the warpage may occur due to the weight of the welded part 300, it is preferable that the number of holes that can be welded in one installation is 6 or less on the left and right.

Furthermore, it is possible to reduce the repetition of the clipping device separation and installation work, thereby reducing the fatigue of the operator and reducing the incidence of safety accidents.

Further, the welding part 300 may further include a setting part for setting the welding part 300 at the center of the hole where welding is performed.

The setting part is for centering the center of the welding part 300, in particular, the center of the hole where welding is performed with the center of the welding part 310. For this purpose, the setting part may be a separate sensor. However, the present invention is not limited to this, and it may be any device for fitting the center of the weld portion 300 to the center of the hole.

For example, as shown in FIG. 3, when the depth of the center of each hole is the deepest, the center of the weld 300 may be aligned with the center of each hole, including a sensor capable of measuring the depth of each hole .

As described above, the cladding device, particularly, the welding part 300 including the setting part can be accurately set at the center of the hole of the part as the welding point, thereby improving the accuracy of the welding work and improving the welding quality.

Further, it may further include a control unit for controlling the position of the weld unit 300 according to the position of the hole to be welded and whether or not the weld is completed. Specifically, the control unit controls the moving unit 200 according to the position of a hole to be welded, so that the position of the welding unit 300 can be arranged in a hole to be welded.

The control unit controls the moving unit 200 according to the position of the hole to be welded next so that the welded part 300 is welded to the welded part 300, The position can be appropriately arranged.

The control operation of the control unit will be described in more detail in the following cladding method.

Next, a cladding apparatus according to a second embodiment of the present invention will be described with reference to FIG.

The cladding device according to the second embodiment of the present invention differs from the cladding device according to the first embodiment only in the configuration of the moving part and the welded part, but the other configurations are the same, so that the description of the same parts will be omitted, I will explain it mainly.

The cladding apparatus according to the second embodiment of the present invention may include a coupling unit 100, a moving unit 1200, a welding unit, a setting unit, and a control unit.

At this time, the welding portion can be automatically welded by continuous rotation, so that the cladding welding work can be easily performed even in a narrow space.

The welding portion may include a welding torch portion rotatable by 360 °, a torch supporting portion rotatably supporting the welding torch portion, connected to the moving portion, and a driving portion driving the rotation of the welding torch portion.

This is because the torch supporter 320 supports the welding torch part 310 in a rotatable and slidable manner in the welding part 300 of the cladding device according to the first embodiment, The welding portion is the same as the welding portion except that the torch supporting portion rotatably supports the welding torch portion.

The moving part 1200 is provided between the joint part 100 and the welded part, and serves to move the welded part. The moving part 1200 can be formed of a multi-joint manipulator, thereby moving the welding part in various directions.

In the present embodiment, since the welding torch portion can be rotated only by the welding portion itself, the moving portion 1200 moves not only in the horizontal direction, that is, in a direction parallel to the axis in which a plurality of holes are formed, And to move in the vertical direction underneath.

Accordingly, the moving part 1200 includes a first moving part for moving the welding part in parallel with the axis in which the plurality of holes are formed, and a second moving part for moving the welding part in a direction perpendicular to the moving direction by the first moving part And may include a second moving unit 1230.

The first moving part may include a first arm 1210 rotatably connected to the coupling part 100 and a second arm 1220 rotatably connected to the first arm 1210, The first arm 1210 and the second arm 1220 are preferably hinge-coupled. In the cladding apparatus according to the first embodiment, the first arm 210 and the second arm 220 may be formed in the same manner.

That is, the first arm 1210 is installed to be rotatable on a plane perpendicular to the coupling unit 100, and the second arm 1220 is coupled to be rotatable on the same plane as the first arm 1210 The position of the welded portion can be adjusted by adjusting the angle between them. That is, as the angle formed by the first arm 1210 and the second arm 1220 becomes smaller, the first arm 1210 and the second arm 1220 are disposed closer to the coupling portion 100. As the angle increases, .

In addition, the second moving part 1230 moves the welding part upward and downward along the longitudinal direction. Accordingly, the welding part, in particular, the welding torch part moves upward and downward to the inside and the outside of each hole, . This is necessary because the welding torch must be lowered to the inside of the hole for cladding welding in the hole, and then moved to another position (hole) after completion of the cladding welding.

According to the present embodiment, the second moving part 1230 may be formed as a pipe-shaped column and slidably inserted into a hole formed at an end of the second arm 1220.

However, the present invention is not limited to this, and any structure may be used as long as it is a structure for moving the welding portion upward and downward. For example, the second arm 1220 can be coupled to the first arm 1210 so as to be rotatable, but also to control the height, i.e., move in the vertical direction.

Next, a cladding method according to an embodiment of the present invention will be described with reference to FIGS. 5 to 7. FIG.

The cladding method according to an embodiment of the present invention includes a step (S1000) of setting a weld part for cladding welding in a hole (S1000), a step of setting the weld part in a hole to be welded (S4000) of cladding the weld through the rotation (S3000), and resetting the weld in the hole to be welded next (S4000) using the moving part of the multi-joint.

First, a welding portion for welding the cladding can be installed inside the hole using the coupling portion (S1000). Thereby, as described later, the welding portion is fixed to the component 10 having a plurality of holes, and a reference point capable of being moved by the moving portion of the multi-joint is provided.

Next, the welded portion may be set in a hole to be welded by the moving portion of the multi-joint (S2000). At this time, the separate control unit controls the moving unit according to the position of the hole to be welded, so that the position of the welded part can be arranged in the hole to be welded. The moving part of the articulated joint may be composed of a first arm and a second arm hinged to each other like the moving part disclosed in the cladding device, thereby adjusting the angle between the first arm and the second arm, Can be adjusted.

At this time, the step of setting the welding part (S2000) may set the welding part at the center of the hole to be welded, so that the center of the welding part can be matched with the center of the hole, have. This may be accomplished by a separate sensor, such as the setting unit disclosed in the cladding apparatus.

When the setting of the welding part is completed, the welding part rotates through the welding of the cladding (S3000).

The cladding step S3000 may include a step S3100 in which the welded portion is lowered into the hole to be welded and a step S3200 in which the welded portion is raised to the outside of the hole after rotating through 360 °.

That is, when the plurality of holes to be welded are located below the weld, the weld is set at the center of the hole to be welded by the step S2000 of setting the weld, And after climbing, the cladding is welded through the inside of the hole by 360 ° rotation, preferably one turn, and then goes up again to the outside of the hole to move to the next welding position.

Accordingly, when the cladding welding operation of one hole is completed, the welded portion can be set again to the position of the next hole to be welded (S4000).

Each of the above steps may be performed by a separate control unit depending on the position of the hole to be welded and the completion of each welding operation.

As shown in FIG. 6, the cladding step S3000 and the welding step S4000 may be repeated as many times as the number of holes in the range in which the welding part can be moved by the moving part of the multi- So that the cladding welding operation of a plurality of holes can be easily performed by only one installation of the cladding device.

According to another embodiment of the present invention in which a plurality of holes to be welded are located on the upper side of the welded portion, the cladding step includes a step in which the welded portion is raised into the hole to be welded, And then falling to the outside of the hole.

That is, when the plurality of holes to be welded are located above the weld, the weld is set at the center of the hole to be welded by the step S2000 (S2000) After the climb, the cladding is welded through the inside of the hole by 360 ° rotation, preferably one turn, and then falls to the outside of the hole again to move to the next welding position.

Thus, similarly, once the cladding welding operation of one hole is completed, the weld can be set back to the position of the hole to be welded next.

Finally, when the cladding operation is completed with respect to the plurality of holes within the movable range of the welded part by the moving part of the multi-joint, the welding part (entire cladding device) is separated from the hole (S5000), the cladding operation can be performed on a plurality of holes arranged around the newly installed holes of the welded portion.

As a result, according to the cladding apparatus and the cladding method of the present invention, the welding portion for cladding welding can be moved including the moving portion of the multi-joint, so that it is not necessary to install a cladding device for each hole at the time of cladding a plurality of holes, The cladding welding operation of the plurality of holes can be facilitated.

The present invention is not limited to the above-described specific embodiment and description, and various changes and modifications may be made by those skilled in the art without departing from the scope of the present invention as claimed in the claims. And such modifications are within the scope of protection of the present invention.

10: Parts
100: coupling part 200, 1200: moving part
210, 1210: first arm 220, 1220: second arm
1230: second moving part 300: welded part
310: welding torch portion 320: torch supporting portion
330:

Claims (13)

CLAIMS 1. A cladding apparatus for cladding a plurality of holes,
Welds for cladding welding;
An engaging portion provided inside any one of the plurality of holes;
A moving part provided between the welding part and the engaging part, for moving the welding part; And
And a setting portion for setting the welding portion at the center of the hole where welding is performed,
The welding portion
Welding torch parts capable of 360 ° rotation;
A torch support portion rotatably supporting the welding torch portion and connected to the moving portion; And
And a driving part for driving rotation of the welding torch part,
The moving unit includes:
A first moving part for moving the welding part in parallel with an axis in which the plurality of holes are formed; And
And a second moving part for moving the welding part in a direction perpendicular to a direction in which the welding part is moved by the first moving part,
Wherein the first moving unit comprises:
A first arm rotatably connected to the coupling portion; And
And a second arm rotatably connected to the first arm,
Wherein the torch support portion is connected to the second moving portion,
Wherein the welding portion is capable of automatic welding by continuous rotation. delete delete delete delete delete The method according to claim 1,
Wherein the first arm and the second arm are hinge-coupled to each other. delete The method according to claim 1,
A control unit for controlling the position of the welded part in accordance with the position of the hole to be welded and the completion of welding;
Further comprising a plurality of continuously rotating cladding devices. CLAIMS 1. A cladding method for cladding a plurality of holes,
Providing a welding portion for cladding welding in one of the plurality of holes;
Setting the weld in a hole to be welded using a moving part of the joint;
Cladding the weld through a 360 rotation; And
And resetting the welded portion to a hole to be welded next using a movable portion of the joint,
Wherein the setting step sets the welding portion at the center of the hole to be welded,
Wherein the cladding comprises:
Lowering the weld into the hole to be welded; And
Rotating the welded part by 360 ° and rising to the outside of the hole;
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